Add Intrinsic MoveIt grasp planning demo (Docker + Foxglove)

README.md

@@ -70,6 +70,8 @@ Below is a list of all tutorials available in this repository:
 ### [ROS 2 Diagnostics Tutorial](integrations/ros2/diagnostics/README.md)
 - 📝 Basic example of publishing and visualizing DiagnosticArray messages
 - 🔗 [Related Blog Post](https://foxglove.dev/blog/a-practical-guide-to-using-ros-diagnostics)
+### [Intrinsic MoveIt grasp planning (UR5e + Robotiq Hand-E) in Foxglove](integrations/ros2/intrinsic_moveit/README.md)
+- 📝 Run Intrinsic's open-source MoveIt Task Constructor grasp planner for the OMTS cell on mock hardware in Docker and visualize candidates and motions live in Foxglove
 ### [ROS 2 Launch Files Tutorial](integrations/ros2/launch/README.md)
 - 📝 Code reference for ROS 2 launch files tutorial
 - 🔗 [Related Blog Post](https://foxglove.dev/blog/how-to-use-ros2-launch-files)

integrations/ros2/intrinsic_moveit/.dockerignore

@@ -0,0 +1,4 @@
+recordings/
+media/
+*.md
+**/__pycache__

integrations/ros2/intrinsic_moveit/.gitignore

@@ -0,0 +1,3 @@
+recordings/*
+!recordings/.gitkeep
+__pycache__/

integrations/ros2/intrinsic_moveit/Dockerfile

@@ -0,0 +1,102 @@
+# syntax=docker/dockerfile:1
+ARG ROS_DISTRO=jazzy
+# Pin the base image that this tutorial was tested against.
+ARG ROS_BASE_DIGEST=sha256:c3706ef0a0aa45413c07803cf433602f543b22e45b4855f6fca955c2d8ecc4e8
+FROM ros:${ROS_DISTRO}-ros-base@${ROS_BASE_DIGEST}
+ARG ROS_DISTRO
+ARG ROS_APT_SNAPSHOT=2026-09-11
+ARG INTRINSIC_MOVEIT_REPO=https://github.com/intrinsic-ai/intrinsic-moveit.git
+ARG INTRINSIC_MOVEIT_COMMIT=c5e3290aa0f0e64c2d106a2fb4eb10cb52592205
+ENV DEBIAN_FRONTEND=noninteractive \
+    ROS_HOME=/tmp/ros \
+    ROS_LOG_DIR=/tmp/ros/log \
+    INTRINSIC_MOVEIT_COMMIT=${INTRINSIC_MOVEIT_COMMIT} \
+    ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
+
+# ROS packages come from the Jazzy snapshot. The Ubuntu archive is left unpinned.
+# The snapshot key (ROS Snapshot builder) expires 2027-06-01.
+# ur-description Depends on rviz2. Extract the share files so the URDF resolves
+# without installing RViz, Qt, or LLVM.
+RUN curl -fsSL "https://keyserver.ubuntu.com/pks/lookup?op=get&search=0x4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA" \
+      | gpg --dearmor -o /usr/share/keyrings/ros-snapshots.gpg \
+ && gpg --show-keys /usr/share/keyrings/ros-snapshots.gpg \
+      | grep -q 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA \
+ && rm -f /etc/apt/sources.list.d/ros2.sources /etc/apt/sources.list.d/ros2.list \
+ && echo "deb [signed-by=/usr/share/keyrings/ros-snapshots.gpg] http://snapshots.ros.org/${ROS_DISTRO}/${ROS_APT_SNAPSHOT}/ubuntu noble main" \
+      > /etc/apt/sources.list.d/ros2-snapshot.list \
+ && apt-get update && apt-get install -y --no-install-recommends \
+      git \
+      build-essential \
+      python3-numpy \
+      python3-websockets \
+      python3-colcon-common-extensions \
+      ros-${ROS_DISTRO}-moveit-core \
+      ros-${ROS_DISTRO}-moveit-ros-planning \
+      ros-${ROS_DISTRO}-moveit-ros-planning-interface \
+      ros-${ROS_DISTRO}-moveit-ros-move-group \
+      ros-${ROS_DISTRO}-moveit-planners-ompl \
+      ros-${ROS_DISTRO}-pilz-industrial-motion-planner \
+      ros-${ROS_DISTRO}-moveit-kinematics \
+      ros-${ROS_DISTRO}-moveit-simple-controller-manager \
+      ros-${ROS_DISTRO}-moveit-configs-utils \
+      ros-${ROS_DISTRO}-moveit-task-constructor-core \
+      ros-${ROS_DISTRO}-ros2-control \
+      ros-${ROS_DISTRO}-ros2-controllers \
+      ros-${ROS_DISTRO}-robot-state-publisher \
+      ros-${ROS_DISTRO}-xacro \
+      ros-${ROS_DISTRO}-foxglove-bridge \
+      ros-${ROS_DISTRO}-rosbag2-storage-mcap \
+    && apt-get download ros-${ROS_DISTRO}-ur-description \
+    && dpkg-deb -x ros-${ROS_DISTRO}-ur-description_*.deb / \
+    && rm -f ros-${ROS_DISTRO}-ur-description_*.deb \
+    && rm -rf /var/lib/apt/lists/*
+
+# robot_hardware_description's CMakeLists find_package(rviz2)s but never links it.
+# A config-only stub satisfies that check without the RViz/Qt/LLVM stack.
+RUN mkdir -p /opt/ros/${ROS_DISTRO}/share/rviz2/cmake \
+      /opt/ros/${ROS_DISTRO}/share/ament_index/resource_index/packages \
+ && printf 'set(rviz2_FOUND TRUE)\n' > /opt/ros/${ROS_DISTRO}/share/rviz2/cmake/rviz2Config.cmake \
+ && : > /opt/ros/${ROS_DISTRO}/share/ament_index/resource_index/packages/rviz2
+
+RUN git init /opt/intrinsic-moveit \
+ && git -C /opt/intrinsic-moveit fetch --depth 1 ${INTRINSIC_MOVEIT_REPO} ${INTRINSIC_MOVEIT_COMMIT} \
+ && git -C /opt/intrinsic-moveit checkout FETCH_HEAD \
+ && rm -rf /opt/intrinsic-moveit/.git
+
+WORKDIR /ws
+RUN mkdir -p src \
+ && cp -r /opt/intrinsic-moveit/robot_hardware_description \
+          /opt/intrinsic-moveit/third_party/robot_hardware_moveit_config \
+          /opt/intrinsic-moveit/moveit_planning_interfaces src/
+COPY ros_ws/src/moveit_planning_service_standalone/ src/moveit_planning_service_standalone/
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+ && colcon build --merge-install --parallel-workers 2 \
+      --packages-up-to moveit_planning_service \
+      --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+      -DINTRINSIC_MOVEIT_DIR=/opt/intrinsic-moveit \
+ && rm -rf build log
+
+COPY ros_ws/src/intrinsic_foxglove_demo/ src/intrinsic_foxglove_demo/
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+ && . /ws/install/setup.sh \
+ && colcon build --merge-install --parallel-workers 2 \
+      --packages-select intrinsic_foxglove_demo \
+      --cmake-args -DCMAKE_BUILD_TYPE=Release \
+ && rm -rf build log
+
+COPY scripts/ /opt/demo/scripts/
+COPY foxglove_layouts/ /opt/demo/foxglove_layouts/
+RUN chmod +x /opt/demo/scripts/*.sh \
+ && printf 'source /opt/ros/%s/setup.bash\nsource /ws/install/setup.bash\n' "${ROS_DISTRO}" \
+      > /etc/profile.d/ros_ws.sh \
+ && printf '\n[ -f /opt/ros/%s/setup.bash ] && . /opt/ros/%s/setup.bash\n[ -f /ws/install/setup.bash ] && . /ws/install/setup.bash\n' \
+      "${ROS_DISTRO}" "${ROS_DISTRO}" >> /etc/bash.bashrc
+
+# moveit_configs_utils ships default pipeline files for CHOMP and STOMP and
+# loads every one it finds. Those plugins are not installed in this headless image.
+RUN rm -f /opt/ros/${ROS_DISTRO}/share/moveit_configs_utils/default_configs/stomp_planning.yaml \
+      /opt/ros/${ROS_DISTRO}/share/moveit_configs_utils/default_configs/chomp_planning.yaml
+
+EXPOSE 8765
+ENTRYPOINT ["/opt/demo/scripts/entrypoint.sh"]
+CMD ["ros2", "launch", "intrinsic_foxglove_demo", "demo.launch.py"]